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This paper investigates coordination between a human operator and robotic swarm. The objective is to guarantee human-enabled motion synchronization to desired position/velocity references. The presence of a human in the system could improve performance in completing complex missions and adaptation to changes in environment or mission goal. Although in some works the human is modeled or assumed as...
In this paper, we propose a cooperative control law of human-robotic networks in the presence of inter-robot communication delays. The objective is to guarantee human enabled synchronization of positions of robotic network to desired reference. We first design a cooperative controller to be implemented on each robot so that their motion are synchronized to a reference motion desired by a human operator...
This paper focused on the design and implementation of guidance and gain-scheduling autopilot for modeled rocket. Autopilot implemented by using classical gain-scheduling method that designed to work within certain velocity and angle-of-attack (AOA). Input command for the autopilot is provided by guidance system which processed kinematic and dynamic of the rocket, so it could follow the desired trajectory...
This paper gives an overview of classical gainscheduling design applicable to three-loop attitude autopilot. Three-loop autopilot is a classic linear flight control scheme that is still being used nowadays. With the help of classical gainscheduling method it is expected that the implementation can help improve the response of the system. The scopes of this paper include design procedures and analysis...
Diabetes is one of the most rapidly increasing health threats worldwide. One of the further abnormalities is on retina (diabetic retinopathy). Early treatment can be conduct from detection of microaneurysms. The main concentration of this paper is the algorithm to detect microaneurysm with mathematical morphology. The mathematical morphology is choosen because microaneurysms tend to have typical shape...
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